#pragma once

#include "STrack.h"

struct BObject {
  cv::Rect_<float> rect;
  int track_id;
  int label;
  float prob;
};

class BYTETracker {
 public:
  BYTETracker(int frame_rate = 30, int track_buffer = 30);
  ~BYTETracker();

  vector<STrack> update(const vector<BObject>& objects);
  Scalar get_color(int idx);

 private:
  vector<STrack*> joint_stracks(vector<STrack*> &tlista, vector<STrack> &tlistb);
  vector<STrack> joint_stracks(vector<STrack> &tlista, vector<STrack> &tlistb);

  vector<STrack> sub_stracks(vector<STrack> &tlista, vector<STrack> &tlistb);
  void remove_duplicate_stracks(vector<STrack> &resa, vector<STrack> &resb, vector<STrack> &stracksa, vector<STrack> &stracksb);

  void linear_assignment(vector<vector<float> > &cost_matrix, int cost_matrix_size, int cost_matrix_size_size, float thresh,
                         vector<vector<int> > &matches, vector<int> &unmatched_a, vector<int> &unmatched_b);
  vector<vector<float> > iou_distance(vector<STrack*> &atracks, vector<STrack> &btracks, int &dist_size, int &dist_size_size);
  vector<vector<float> > iou_distance(vector<STrack> &atracks, vector<STrack> &btracks);
  vector<vector<float> > ious(vector<vector<float> > &atlbrs, vector<vector<float> > &btlbrs);

  double lapjv(const vector<vector<float> > &cost, vector<int> &rowsol, vector<int> &colsol,
               bool extend_cost = false, float cost_limit = LONG_MAX, bool return_cost = true);

 private:

  float track_thresh;
  float high_thresh;
  float match_thresh;
  int frame_id;
  int max_time_lost;

  vector<STrack> tracked_stracks;
  vector<STrack> lost_stracks;
  vector<STrack> removed_stracks;
  byte_kalman::KalmanFilter kalman_filter;
};
